Time Independent Tracking Using 2-D Movement Flow-Based Visual Servoing

Author

Pomares, Jorge ; Torres, Fernando

Author_Institution

Department of Physics, System Engineering and Signal Theory University of Alicante P.O. Box 99 03080 Alicante, Spain jpomares@ua.es

fYear

2005

fDate

18-22 April 2005

Firstpage

2541

Lastpage

2546

Abstract

In this paper, the so-called 2-D movement flow-based visual servoing system is proposed, which allows the tracking of trajectories planned in the image space. This method is time-independent, which is useful when problems such as obstructions occur during the tracking. This method allows the tracking of image trajectories assuring the correct behaviour in the 3-D space and avoiding the limitations of the time-dependent systems used up to now for tracking trajectories. This aspect has allowed its application to manipulation tasks in which the trajectory can be obstructed during the tracking.

Keywords

2-D visual servoing; eye-in-hand system; positioning tasks; tracking trajectories; vector field; Cameras; Convergence; Noise robustness; Orbital robotics; Path planning; Physics; Systems engineering and theory; Target tracking; Trajectory; Visual servoing; 2-D visual servoing; eye-in-hand system; positioning tasks; tracking trajectories; vector field;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on

Print_ISBN

0-7803-8914-X

Type

conf

DOI

10.1109/ROBOT.2005.1570495

Filename

1570495